CN101412415A - Backward thrust and negative pressure combined adsorption method for wall climbing robot and implementation thereof - Google Patents

Abstract

The invention relates to a reverse thrust and negative pressure combined adsorption method applied to a wall-climbing robot and realization thereof. When a suction disk(1) of the wall-climbing robot is contacted with the wall surface, air flow enters a cavity(4) of the suction disk(1) from the gap between the suction disk(1) and the wall surface through a propeller(3) rotating at a high speed in a guiding channel, and is discharged from the guiding channel (5) in which the propeller(3) on the top of the suction disk(1) is arranged, and the superimposed effect of the adsorption force generated due to the negative pressure state in the suction disk(1) and the reverse thrust generated due to the high-speed rotation of the propeller(3) in the guiding channel is formed, so that the adsorption force between the suction disk(1) of the wall-climbing robot and the wall surface is kept in the range of enough threshold value. The robot is ensured to be dynamically adsorbed on the wall surface, and flexibly moved. By the application of the theory and the realization method, the wall-climbing robot can realize small size, light weight, low noise, energy conservation, unnecessary complex suction disk sealing device and strong obstacle crossing capability.

Description

Be applied to reaction thrust and the negative pressure combined adsorption method and the realization thereof of climbing robot

Technical field

The present invention relates to the adsorption method of a kind of climbing robot and wall, especially a kind of non-linear combined adsorption method of climbing robot and realization thereof of adopting reaction thrust and negative-pressure adsorption.

Background technology

Climbing robot can replace the human work in danger, and the robot of operation under the extreme environment such as readily accessible vertical walls not, as can be used for the detection of high building exterior wall cleaning surfaces and wall surface construction quality, implement anti-terrorism reconnaissance and surveillance etc. from the high building outside to suspicious room in the building.

Climbing robot generally relies on certain adsorption affinity and makes it reliably attached on the wall, and can move on wall, and here, how reliably absorption is very crucial.At present, for the suction type of climbing robot has generally that magnetic is attached, vacuum suction mode, negative-pressure adsorption mode, screw propeller rotation produce thrust suction type with utilize cohesive material suction type etc.Wherein the climbing robot of the attached mode of magnetic can only be used for the wall of magnet conductivity, and application limitation is big.The vacuum suction mode is fit to the climbing robot that the leg formula moves, and moving velocity is very slow, and robot is bulky, is unfavorable for carrying.Though the negative-pressure adsorption mode moves relatively flexibly, and is very high to the requirement of wall, if having big gully or big projection on the wall, robot can't pass through so.In addition, the climbing robot of negative-pressure adsorption mode requires harsh to the air-proof condition in sucker chamber.The robot that utilizes cohesive material that wall is adsorbed, also for research department's stage, its deficiency is to solve the cleaning or the self-cleaning problem of material.

On principle with the present invention the most approaching be the climbing robot that adsorbs of the thrust that adopts the screw propeller rotation to produce people such as (, Miyazaki University, 1991) Akira Nishi, as shown in Figure 1.Adopt the propeller axis and the wall of the robot use of this principle must keep certain angle, the normal component of propeller thrust is used for balancing gravity, to the utilization ratio height of thrust; Attitude and motion control method complexity to robot.

In sum, climbing robot is poor in absorption reliability on the wall, the problem a little less than flexible mobility difference and the obstacle climbing ability, realizes that difficulty is big, and reliability is low.

Summary of the invention

The present invention proposes the non-linear combined adsorption method and the realization thereof of a kind of comprehensive application negative-pressure adsorption and deboost effect, can improve the climbing robot adsorption reliability, move and the ability of obstacle detouring flexibly.

Be to provide a kind of simple in structure order of the present invention, need not the sucker sealing and have a kind of combined adsorption method and realization thereof the strong adaptive capacity of wall, that be applied to climbing robot.

Adsorption method of the present invention is: the differential static pressure that utilizes the relative velocity difference of the screw propeller both sides of high speed revolution in the water conservancy diversion duct to cause, produce deboost, this moment, the interior pressure of negative pressure cavity at the screw propeller place of becoming a mandarin was lower than sucker atmosphere outside pressure, make the interior generation of the negative pressure cavity certain negative pressure of sucker, thereby obtain the positive pressure of barometric pressure sucker; The complex effect of deboost and positive pressure is exactly the adsorption affinity to wall; When adsorption affinity is within enough threshold values, when promptly being not less than the critical adsorption power of adsorption affinity (critical condition is: under the effect of adsorption affinity, the friction force between robot movement device and the wall and system's total force balance each other), adsorbable on wall.

The device of realizing adsorption method of the present invention comprises sucker, screw propeller, negative pressure cavity, water conservancy diversion duct and slit control apparatus; Sucker and the seamless link of water conservancy diversion duct, sucker surrounds it all around at the water conservancy diversion duct place of becoming a mandarin, and the space that forms between sucker and the wall is a negative pressure cavity, and the slit control apparatus is housed between sucker and the wall, this device contacts with wall, can regulate the distance of sucker and wall; Screw propeller is positioned in the duct, and the two dead in line, and propeller axis is vertical with wall; When in running order, screw propeller high speed revolution in the water conservancy diversion duct, make air-flow enter in the vacuum cavity from the slit of sucker and wall, and discharge by the water conservancy diversion duct of sucker central authorities, form the synergistic effect that is in the interior resulting deboost of screw propeller high speed revolution of adsorption affinity that negative pressure state produces and water conservancy diversion duct in the sucker, thereby the robot sucker is within enough threshold values total adsorption affinity of wall.Promptly can not be lower than the critical adsorption power of adsorption affinity.By the slit control apparatus rationally is set, make sucker and wall keep optimum distance again, can make this total adsorption affinity reach maximum value.When robot is crossed over big obstacle, also can make its state that on wall, is in similar " floating ", guarantee that robot can dynamically be adsorbed on the metope, the while also can move flexibly.Screw propeller in the technical solution of the present invention can be one or more pieces, promptly in order to improve total adsorption affinity, perhaps in order to obtain same thrust and to raise the efficiency, can also take the mode of screw propeller cascade, a plurality of screw propellers of both can having connected vertically in duct also can make a plurality of screw propellers be distributed in the sucker plane.

Below content of the present invention is done further quantitative analysis.Suppose to act on the sucker payload space S, be F to the pressure (adsorption affinity) of wall _s, because of in the sucker chamber for produce by negative pressure state, barometric pressure is F to the pressure of sucker _p, the pressure that screw propeller produces is F _t, have following equation to set up so:

F _s＝F _p+F _t

Pressure F in the wherein top equation _sBe a function, relevant with air gap between robot sucker and wall, gas flow, flow parameters etc.

Physical composition of the present invention comprises the screw propeller that produces thrust, utilizes the sucker of negative pressure effect, plays the duct of guide functions, bears the bracing or strutting arrangement (can be wheel or crawler belt etc.) of total adsorption affinity.

Robot shells and impeller at axial row statics balance equation, are had

F _s＝F _p+F _t (a)

Wherein, F _sBe total adsorption affinity, F _tBe propeller thrust, F _pBe negative pressure.Negative pressure is sucker S ₂On distributed force be

$F_p=\underset{{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="A200810227554E00082.png"\; state="\{\{state\}\}">S</figure-callout>}}_2}{\&Integral;}\&Integral;[P_0-P(x,y)]\mathrm{dxdy}---\left(b\right)$

Wherein, P ₀Be bar pressure, (x y) is static pressure distribution function in the adsorption system to P.

To system's inner fluid at the axial row momentum equation, then

$\frac{d}{\mathrm{dt}}\underset{V\left(t\right)}{\&Integral;\&Integral;}\&Integral;\left({\stackrel{\&RightArrow;}{u}}_a\mathrm{\&rho;}\right)\mathrm{dv}=F_t+\underset{{\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="A200810227554E00082.png,A200810227554E00092.png"\; state="\{\{state\}\}">S</figure-callout>}}_1}{\&Integral;}\&Integral;P(x,y)\mathrm{dxdy}-\underset{{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="A200810227554E00082.png"\; state="\{\{state\}\}">S</figure-callout>}}_2}{\&Integral;}\&Integral;P(x,y)\mathrm{dxdy}-\underset{{\mathrm{<figure-callout\; id="3"\; label="S"\; filenames="A200810227554E00082.png,A200810227554E00092.png"\; state="\{\{state\}\}">S</figure-callout>}}_3}{\&Integral;}\&Integral;P(x,y)\mathrm{dxdy}---\left(c\right)$

Wherein,

Be the fluid axial-velocity vector, ρ is a fluid density, thinks constant.S ₁For sucker covers wall upper surface, S ₂Be sucker inside face (thickness is ignored), S ₃Be duct fluid egress point disk.

Utilize Reynold's transport theorem to launch (c) formula equal sign left side item, then

$\frac{d}{\mathrm{dt}}\underset{V\left(t\right)}{\&Integral;\&Integral;}\&Integral;\left({\stackrel{\&RightArrow;}{u}}_a\mathrm{\&rho;}\right)\mathrm{dv}=\mathrm{\&rho;}\&CenterDot;\frac{d}{\mathrm{dt}}\underset{V\left(t\right)}{\&Integral;\&Integral;}\&Integral;{\stackrel{\&RightArrow;}{u}}_a\&CenterDot;\mathrm{dv}=\mathrm{\&rho;}\underset{V}{\&Integral;\&Integral;\&Integral;}\frac{\&PartialD;{\stackrel{\&RightArrow;}{u}}_a}{\&PartialD;t}\mathrm{dv}+\mathrm{\&rho;}\underset{S}{\&Integral;}\&Integral;{\stackrel{\&RightArrow;}{u}}_a\&CenterDot;\stackrel{\&RightArrow;}{u}\&CenterDot;d\stackrel{\&RightArrow;}{s}$

$=\mathrm{\&rho;}\&Integral;\underset{V}{\&Integral;}\&Integral;\frac{\&PartialD;{\stackrel{\&RightArrow;}{u}}_a}{\&PartialD;t}\mathrm{dv}+\mathrm{\&rho;}\underset{S}{\&Integral;}{{\&Integral;u}_a}^{2}d\stackrel{\&RightArrow;}{s}---\left(d\right)$

Wherein,

Be the fluid velocity vector.V is the adsorption system fluid total volume, and S is the border of V.Because during the system normal operation, the screw propeller uniform rotation, according to symmetry, (d) first on formula equal sign the right is 0, again because S only ₃Place's fluid has axial velocity, and S ₃Be disc, second on (d) formula of deriving equal sign the right then has

$\underset{S}{\&Integral;}{{\&Integral;u}_a}^{2}d\stackrel{\&RightArrow;}{s}=\underset{{\mathrm{<figure-callout\; id="3"\; label="S"\; filenames="A200810227554E00082.png,A200810227554E00092.png"\; state="\{\{state\}\}">S</figure-callout>}}_3}{\&Integral;}{{\&Integral;u}_a}^{2}d\stackrel{\&RightArrow;}{s}=i\&CenterDot;\underset{{\mathrm{<figure-callout\; id="3"\; label="S"\; filenames="A200810227554E00082.png,A200810227554E00092.png"\; state="\{\{state\}\}">S</figure-callout>}}_3}{\&Integral;}{\&Integral;u_a}^2\mathrm{ds}---\left(e\right)$

Wherein, i is axial unit vector.(a-e) obtain total adsorption affinity expression formula has simultaneous

$F_s=\underset{{\mathrm{<figure-callout\; id="3"\; label="S"\; filenames="A200810227554E00082.png,A200810227554E00092.png"\; state="\{\{state\}\}">S</figure-callout>}}_3}{\&Integral;}\&Integral;[{\mathrm{\&rho;u}}_a^2(x,y)+P(x,y)]\mathrm{dxdy}+P_0{S}_2-\underset{{\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="A200810227554E00082.png,A200810227554E00092.png"\; state="\{\{state\}\}">S</figure-callout>}}_1}{\&Integral;}\&Integral;P(x,y)\mathrm{dxdy}---\left(f\right)$

Can analyze the influence of sucker and wall gap height h qualitatively from (f) formula: when h is too small, cause fluid damping to increase, influence flow, thereby limited S greatly to total adsorption affinity ₃The axial velocity u at place _aSo (f) first on expression formula the right is influenced, cause total adsorption affinity to descend.When h is excessive,, makes fluid velocity decline under the sucker owing to the sucker cross-sectional area is excessive, thereby increase S though flow can be guaranteed ₁The hydrostatic pressure at place so (f) the 3rd on expression formula the right is excessive, also can cause total adsorption affinity to descend.In actual applications, the h size is set rationally, can obtains total adsorption affinity of a maximum, see accompanying drawing 2.

Sucker design has negative pressure cavity and duct, screw propeller be installed in the duct of sucker.Rely on the relative velocity difference of screw propeller both sides to produce differential static pressure, differential static pressure then causes the generation of thrust, simultaneously the pressure in the negative pressure cavity is also corresponding is lower than sucker atmosphere outside pressure, makes in the negative pressure cavity of sucker and produces certain negative pressure, thereby obtain the positive pressure of barometric pressure to sucker.The complex effect of deboost and positive pressure just obtains the adsorption affinity of climbing robot and wall.

Usefulness of the present invention is screw propeller deboost and negative-pressure adsorption are combined, thereby makes the two mutual supplement with each other's advantages, learns from other's strong points to offset one's weaknesses the performance maximum efficiency each other.Compare with the negative-pressure adsorption mode in the background technology, the present invention program does not need complicated sucker hermetically-sealed construction, and is strong to the wall adaptive capacity, can improve climbing robot obstacle climbing ability when mobile on wall greatly; Compare with the vacuum suction mode, on wall, move more flexible; Compare with the propeller thrust adsorption method that people such as Akira proposes, propeller axis of the present invention is vertical with wall, is convenient to the control robot athletic posture, reduces design and manufacture difficulty, the raising system reliability.

Description of drawings

Fig. 1 propeller thrust suction type;

Fig. 2 is an absorption principle analysis chart of the present invention;

Fig. 3 is the graphics of the embodiment of the invention;

Fig. 4 is the multiple coil blade series connection implementation structure figure of the embodiment of the invention;

1-sucker wherein, 2-wall, 3-screw propeller, 4-negative pressure cavity, 5-water conservancy diversion duct, 6-slit control apparatus.

The specific embodiment

When this method is used for the wall-climbing device man-hour, accompanying drawing 3 and accompanying drawing 4 in conjunction with the accompanying drawings 2,, a kind of embodiment can be described as: propeller axis is vertical with wall, be used to provide axial flow and reaction thrust, the sucker that is positioned at the screw propeller place of becoming a mandarin is used to provide negative-pressure sucking, has the negative pressure cavity and the water conservancy diversion duct that produce negative pressure on the sucker, and screw propeller is positioned at the water conservancy diversion duct, be connected with the output shaft of electrical motor, sucker and water conservancy diversion duct mouth are the one seamless link.When the sucker 1 of climbing robot is in running order on wall 2, screw propeller 3 high speed revolutions of installing in the screw propeller direct motor drive water conservancy diversion duct 5, make air-flow enter in negative pressure cavity 4 bodies of sucker from the slit of sucker 1 with wall 2, and discharge by the water conservancy diversion duct 5 of sucker 1 central authorities, the power synergistic effect that produces with regard to having formed the combined action that is in adsorption affinity that negative pressure state produces and the resulting deboost of screw propeller 3 high speed revolutions in the water conservancy diversion duct 5 in the sucker 1 like this, be sucker to the adsorption affinity of wall action be the adsorption affinity that produces of the negative pressure in the sucker and the Nonlinear Superposition of the reaction thrust of screw propeller rotation generation, thereby the total adsorption affinity that makes 1 pair of wall 2 of robot sucker is within enough threshold values, can not be lower than the critical adsorption power of adsorption affinity, again by slit control apparatus 6 rationally is set, make sucker 1 and wall 2 keep optimum distance, can make this total adsorption affinity reach maximum value.When robot is crossed over big obstacle, also can make its state that on wall, is in similar " floating ", under the situation that wheel travel mechanisms such as (or crawler belts) is installed, can guarantee that robot can dynamically be adsorbed on the metope, the while also can move flexibly.

In order to obtain same thrust and to raise the efficiency, can take the mode of screw propeller cascade, a plurality of screw propellers of both can having connected vertically in duct 5 are seen Fig. 4, also can make a plurality of screw propellers be distributed in the sucker plane.

Above-described specific descriptions; purpose, technical scheme and beneficial effect to invention further describe; institute is understood that; the above only is specific embodiments of the invention; and be not intended to limit the scope of the invention; within the spirit and principles in the present invention all, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (4)

1. a reaction thrust and negative pressure combined adsorption method that is applied to climbing robot, it is characterized in that, the differential static pressure that utilizes the relative velocity difference of the screw propeller both sides of high speed revolution in the water conservancy diversion duct to cause, produce deboost, this moment, the interior pressure of negative pressure cavity at the screw propeller place of becoming a mandarin was lower than sucker atmosphere outside pressure, make the interior generation of the negative pressure cavity negative pressure of sucker, thereby obtain the positive pressure of barometric pressure sucker; The stack of deboost and positive pressure is exactly the adsorption affinity to wall; When adsorption affinity is not less than critical adsorption power, adsorbable on wall.

2. realization that is applied to the reaction thrust and the negative pressure combined adsorption method of climbing robot is characterized in that: the device of realizing this method comprises sucker (1), screw propeller (3), negative pressure cavity (4), water conservancy diversion duct (5) and slit control apparatus (6); Sucker (1) and water conservancy diversion duct (5) seamless link, sucker (1) at water conservancy diversion duct (5) place of becoming a mandarin around with its encirclement, the space that forms between sucker (1) and the wall (2) is negative pressure cavity (4), slit control apparatus (6) is housed between sucker (1) and the wall, this device contacts with wall (2), is used to regulate the distance of sucker (1) and wall (2); Screw propeller (3) is positioned in the duct (5), and the two dead in line, and screw propeller (3) axis is vertical with wall (2); When in running order, screw propeller (3) high speed revolution in the water conservancy diversion duct (5), make air-flow enter in negative pressure cavity (4) body from the slit of sucker (1) with wall (2), and discharge by the water conservancy diversion duct (5) of sucker (1) central authorities, form the synergistic effect that is in the interior resulting deboost of screw propeller (3) high speed revolution of adsorption affinity that negative pressure state produces and water conservancy diversion duct (5) in the sucker (1), thereby robot sucker (1) is within the threshold value total adsorption affinity of wall (2).

3. a kind of realization that is applied to the reaction thrust and the negative pressure combined adsorption method of climbing robot according to claim 2 is characterized in that: by regulating the total adsorption affinity of slit control apparatus (6) change to wall.

4. a kind of realization that is applied to the reaction thrust and the negative pressure combined adsorption method of climbing robot according to claim 2, it is characterized in that: screw propeller is a slice, more than two or two, when two or two were above, the screw propeller interrelation was a serial or parallel connection.

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